3 papers
cs.LG2025
Accelerating Model-Based Reinforcement Learning using Non-Linear Trajectory Optimization
Marco Calì, Giulio Giacomuzzo, Ruggero Carli +1
This paper addresses the slow policy optimization convergence of Monte Carlo Probabilistic Inference for Learning Control (MC-PILCO), a state-of-the-art model-based reinforcement l…
cs.RO2024
DECAF: a Discrete-Event based Collaborative Human-Robot Framework for Furniture Assembly
Giulio Giacomuzzo, Matteo Terreran, Siddarth Jain +1
This paper proposes a task planning framework for collaborative Human-Robot scenarios, specifically focused on assembling complex systems such as furniture. The human is characteri…
cs.RO2024
Adaptive Robust Controller for handling Unknown Uncertainty of Robotic Manipulators
Mohamed Abdelwahab, Giulio Giacomuzzo, Alberto Dalla Libera +1
The ability to achieve precise and smooth trajectory tracking is crucial for ensuring the successful execution of various tasks involving robotic manipulators. State-of-the-art tec…